In [1]:
import numpy as np
import cv2
import glob, random
import matplotlib.pyplot as plt
import matplotlib.image as mpimg
%matplotlib inline
In [110]:
test_img = cv2.cvtColor(mpimg.imread('vehicles/GTI_Left/image0019.png'), cv2.COLOR_RGB2YCrCb)
test_img_not = cv2.cvtColor(mpimg.imread('non-vehicles/GTI/flip_image2.png'), cv2.COLOR_RGB2YCrCb)
def plot_images(img1, img2, title1, title2, colormap1, colormap2):
f, (ax1, ax2) = plt.subplots(1, 2, figsize=(10, 10))
f.tight_layout()
ax1.imshow(img1, cmap=colormap1)
ax1.set_title(title1, fontsize=30)
ax2.imshow(img2, cmap=colormap2)
ax2.set_title(title2, fontsize=30)
ax1.axis('off');
ax2.axis('off');
f.savefig("output_images/" + title2.replace(" ",""), bbox_inches='tight', transparent=True)
In [111]:
#augment the data
def read_path(path):
images = glob.glob(path)
return images
def add_flip_data():
left_cars = read_path('vehicles/GTI_Left/*.png')
right_cars = read_path('vehicles/GTI_Right/*.png')
print(len(left_cars), len(right_cars))
for i in range(len(left_cars)):
#uncomment here for the first run
img = cv2.imread(left_cars[i])
cv2.imwrite('./vehicles/GTI_Right_Augmented/'+'flip_'+left_cars[i].split('\\')[-1], cv2.flip(img, 1))
for i in range(len(right_cars)):
#uncomment here for the first run
img = cv2.imread(right_cars[i])
cv2.imwrite('./vehicles/GTI_Left_Augmented/'+'flip_'+right_cars[i].split('\\')[-1], cv2.flip(img, 1))
#add_flip_data()
def add_flip_data_for_middle_far():
middle_cars = read_path('vehicles/GTI_MiddleClose/*.png')
far_cars = read_path('vehicles/GTI_Far/*.png')
for i in range(len(middle_cars)):
#uncomment here for the first run
img = cv2.imread(middle_cars[i])
cv2.imwrite('./vehicles/GTI_MiddleClose/'+'flip_'+middle_cars[i].split('\\')[-1], cv2.flip(img, 1))
for i in range(len(far_cars)):
#uncomment here for the first run
img = cv2.imread(far_cars[i])
cv2.imwrite('./vehicles/GTI_Far/'+'flip_'+far_cars[i].split('\\')[-1], cv2.flip(img, 1))
#add_flip_data_for_middle_far()
def add_flip_data_for_not_cars():
not_cars_GTI = read_path('./non-vehicles/GTI/*.png')
not_cars_Extras = read_path('./non-vehicles/Extras/*.png')
for i in range(len(not_cars_GTI)):
#uncomment here for the first run
img = cv2.imread(not_cars_GTI[i])
print(img)
cv2.imwrite('./non-vehicles/GTI/'+'flip_'+not_cars_GTI[i].split('\\')[-1], cv2.flip(img, 1))
for i in range(len(not_cars_Extras)):
#uncomment here for the first run
img = cv2.imread(not_cars_Extras[i])
cv2.imwrite('./non-vehicles/Extras/'+'flip_'+not_cars_Extras[i].split('\\')[-1], cv2.flip(img, 1))
#add_flip_data_for_not_cars()
In [112]:
color_space = 'YCrCb' # Can be RGB, HSV, LUV, HLS, YUV, YCrCb
orient = 9 # HOG orientations
pix_per_cell = 8 # HOG pixels per cell
cell_per_block = 2 # HOG cells per block
hog_channel = 'ALL' # Can be 0, 1, 2, or "ALL"
spatial_size = (32, 32) # Spatial binning dimensions
hist_bins = 32
In [113]:
from skimage.feature import hog
# Define a function to return HOG features and visualization
def get_hog_features(img, orient, pix_per_cell, cell_per_block,
vis=False, feature_vec=True):
# Call with two outputs if vis==True
if vis == True:
features, hog_image = hog(img, orientations=orient,
pixels_per_cell=(pix_per_cell, pix_per_cell),
cells_per_block=(cell_per_block, cell_per_block),
transform_sqrt=True,
visualise=vis, feature_vector=feature_vec)
return features, hog_image
# Otherwise call with one output
else:
features = hog(img, orientations=orient,
pixels_per_cell=(pix_per_cell, pix_per_cell),
cells_per_block=(cell_per_block, cell_per_block),
transform_sqrt=True,
visualise=vis, feature_vector=feature_vec)
return features
In [114]:
plot_images(mpimg.imread('vehicles/GTI_Left/image0020.png'), mpimg.imread('non-vehicles/GTI/flip_image2.png'), 'cars','not cars', 'gray', 'gray')
In [115]:
features, hog_img = get_hog_features(test_img[:,:,0], orient, pix_per_cell, cell_per_block,
vis=True, feature_vec=True)
features, hog_img_0 = get_hog_features(test_img_not[:,:,0], orient, pix_per_cell, cell_per_block,
vis=True, feature_vec=True)
plot_images(hog_img, hog_img_0, 'cars','not cars', 'gray', 'gray')
In [116]:
features, hog_img = get_hog_features(test_img[:,:,1], orient, pix_per_cell, cell_per_block,
vis=True, feature_vec=True)
features, hog_img_0 = get_hog_features(test_img_not[:,:,1], orient, pix_per_cell, cell_per_block,
vis=True, feature_vec=True)
plot_images(hog_img, hog_img_0, 'cars','not cars', 'gray', 'gray')
In [117]:
features, hog_img = get_hog_features(test_img[:,:,2], orient, pix_per_cell, cell_per_block,
vis=True, feature_vec=True)
features, hog_img_0 = get_hog_features(test_img_not[:,:,2], orient, pix_per_cell, cell_per_block,
vis=True, feature_vec=True)
plot_images(hog_img, hog_img_0, 'cars','not cars', 'gray', 'gray')
Color features.¶
In [118]:
# Define a function to compute binned color features
def bin_spatial(img, size=(32, 32)):
# Use cv2.resize().ravel() to create the feature vector
features = cv2.resize(img, size).ravel()
# Return the feature vector
return features
In [119]:
feature_vec = bin_spatial(test_img, size=(32, 32))
plt.plot(feature_vec)
plt.show()
In [120]:
feature_vec = bin_spatial(test_img_not, size=(32, 32))
plt.plot(feature_vec)
plt.show()
In [126]:
# Define a function to compute color histogram features
# NEED TO CHANGE bins_range if reading .png files with mpimg!
def color_hist(img, nbins=32, bins_range=(0, 256)):
# Compute the histogram of the color channels separately
channel1_hist = np.histogram(img[:,:,0], bins=nbins, range=bins_range)
channel2_hist = np.histogram(img[:,:,1], bins=nbins, range=bins_range)
channel3_hist = np.histogram(img[:,:,2], bins=nbins, range=bins_range)
# Concatenate the histograms into a single feature vector
hist_features = np.concatenate((channel1_hist[0], channel2_hist[0], channel3_hist[0]))
# Return the individual histograms, bin_centers and feature vector
return hist_features
In [140]:
hist_feature = color_hist(cv2.cvtColor(mpimg.imread('vehicles/GTI_Left/image0019.png').astype(np.float32)/255, cv2.COLOR_RGB2YCrCb), nbins=32, bins_range=(0, 256))
plt.hist(hist_feature)
Out[140]:
(array([ 93., 0., 0., 0., 0., 0., 0., 0., 0., 3.]),
array([ 0. , 409.6, 819.2, 1228.8, 1638.4, 2048. , 2457.6,
2867.2, 3276.8, 3686.4, 4096. ]),
<a list of 10 Patch objects>)
In [141]:
hist_feature_0 = color_hist(cv2.cvtColor(mpimg.imread('non-vehicles/GTI/flip_image209.png').astype(np.float32)/255, cv2.COLOR_RGB2YCrCb), nbins=32, bins_range=(0, 256))
plt.hist(hist_feature_0)
Out[141]:
(array([ 93., 0., 0., 0., 0., 0., 0., 0., 0., 3.]),
array([ 0. , 409.6, 819.2, 1228.8, 1638.4, 2048. , 2457.6,
2867.2, 3276.8, 3686.4, 4096. ]),
<a list of 10 Patch objects>)
Feature extraction¶
In [11]:
# Define a function to extract features from a list of images
# Have this function call bin_spatial() and color_hist()
def extract_features(imgs, color_space='YCrCb', spatial_size=(32, 32),
hist_bins=32, orient=9,
pix_per_cell=8, cell_per_block=2, hog_channel='ALL',
spatial_feat=True, hist_feat=True, hog_feat=True):
# Create a list to append feature vectors to
features = []
# Iterate through the list of images
for file in imgs:
file_features = []
# Read in each one by one
image = mpimg.imread(file)
# apply color conversion if other than 'RGB'
if color_space != 'RGB':
if color_space == 'HSV':
feature_image = cv2.cvtColor(image, cv2.COLOR_RGB2HSV)
elif color_space == 'LUV':
feature_image = cv2.cvtColor(image, cv2.COLOR_RGB2LUV)
elif color_space == 'HLS':
feature_image = cv2.cvtColor(image, cv2.COLOR_RGB2HLS)
elif color_space == 'YUV':
feature_image = cv2.cvtColor(image, cv2.COLOR_RGB2YUV)
elif color_space == 'YCrCb':
feature_image = cv2.cvtColor(image, cv2.COLOR_RGB2YCrCb)
else: feature_image = np.copy(image)
if spatial_feat == True:
spatial_features = bin_spatial(feature_image, size=spatial_size)
file_features.append(spatial_features)
if hist_feat == True:
# Apply color_hist()
hist_features = color_hist(feature_image, nbins=hist_bins)
file_features.append(hist_features)
if hog_feat == True:
# Call get_hog_features() with vis=False, feature_vec=True
if hog_channel == 'ALL':
hog_features = []
for channel in range(feature_image.shape[2]):
hog_features.append(get_hog_features(feature_image[:,:,channel],
orient, pix_per_cell, cell_per_block,
vis=False, feature_vec=True))
hog_features = np.ravel(hog_features)
else:
hog_features = get_hog_features(feature_image[:,:,hog_channel], orient,
pix_per_cell, cell_per_block, vis=False, feature_vec=True)
# Append the new feature vector to the features list
file_features.append(hog_features)
features.append(np.concatenate(file_features))
print(str(file)+ " "+ "completed")
# Return list of feature vectors
return features
def extract_single_feature(frame, color_space='YCrCb', spatial_size=(32, 32),
hist_bins=32, orient=9,
pix_per_cell=8, cell_per_block=2, hog_channel=0,
spatial_feat=True, hist_feat=True, hog_feat=True):
file_features = []
# Read in each one by one
image = np.copy(frame)
# apply color conversion if other than 'RGB'
if color_space != 'RGB':
if color_space == 'HSV':
feature_image = cv2.cvtColor(image, cv2.COLOR_RGB2HSV)
elif color_space == 'LUV':
feature_image = cv2.cvtColor(image, cv2.COLOR_RGB2LUV)
elif color_space == 'HLS':
feature_image = cv2.cvtColor(image, cv2.COLOR_RGB2HLS)
elif color_space == 'YUV':
feature_image = cv2.cvtColor(image, cv2.COLOR_RGB2YUV)
elif color_space == 'YCrCb':
feature_image = cv2.cvtColor(image, cv2.COLOR_RGB2YCrCb)
else: feature_image = np.copy(image)
if spatial_feat == True:
spatial_features = bin_spatial(feature_image, size=spatial_size)
file_features.append(spatial_features)
if hist_feat == True:
# Apply color_hist()
hist_features = color_hist(feature_image, nbins=hist_bins)
file_features.append(hist_features)
if hog_feat == True:
# Call get_hog_features() with vis=False, feature_vec=True
if hog_channel == 'ALL':
hog_features = []
for channel in range(feature_image.shape[2]):
hog_features.append(get_hog_features(feature_image[:,:,channel],
orient, pix_per_cell, cell_per_block,
vis=False, feature_vec=True))
hog_features = np.ravel(hog_features)
else:
hog_features = get_hog_features(feature_image[:,:,hog_channel], orient,
pix_per_cell, cell_per_block, vis=False, feature_vec=True)
# Append the new feature vector to the features list
file_features.append(hog_features)
# Return list of feature vectors
return np.concatenate(file_features)
# Define a function to draw bounding boxes
def draw_boxes(img, bboxes, color=(0, 0, 255), thick=6):
# Make a copy of the image
imcopy = np.copy(img)
# Iterate through the bounding boxes
for bbox in bboxes:
# Draw a rectangle given bbox coordinates
cv2.rectangle(imcopy, bbox[0], bbox[1], color, thick)
# Return the image copy with boxes drawn
return imcopy
SVM Classifiers¶
Flow: Get raw data --> Split data get train and test data --> Scaler and SVM model by train data --> Test accuracy on test data¶
I trained two classifiers, cars and not cars, left and right cars. In the first svm, because the dataset is large (10000 vs 10000 data), fitting the cars and not cars into a linear svm may cause the computer no response for 5 min. So I save all the svms and corresponding scalers by pickle. You may load it in the next chapter.¶
In [12]:
#train 2 classifiers, cars and not cars, left cars and right cars
from sklearn import svm, grid_search
from sklearn.preprocessing import StandardScaler
from sklearn.cross_validation import train_test_split
C:\Program Files\Anaconda3\lib\site-packages\sklearn\cross_validation.py:44: DeprecationWarning: This module was deprecated in version 0.18 in favor of the model_selection module into which all the refactored classes and functions are moved. Also note that the interface of the new CV iterators are different from that of this module. This module will be removed in 0.20. "This module will be removed in 0.20.", DeprecationWarning) C:\Program Files\Anaconda3\lib\site-packages\sklearn\grid_search.py:43: DeprecationWarning: This module was deprecated in version 0.18 in favor of the model_selection module into which all the refactored classes and functions are moved. This module will be removed in 0.20. DeprecationWarning)
In [13]:
def get_samples_0():
far_cars = read_path('vehicles/GTI_Far/*.png')
left_cars = read_path('vehicles/GTI_Left/*.png')
right_cars = read_path('vehicles/GTI_Right/*.png')
close_cars = read_path('vehicles/GTI_MiddleClose/*.png')
other_cars = read_path('vehicles/KITTI_extracted/*.png')
cars = far_cars + left_cars + right_cars + close_cars + other_cars
not_cars = read_path('non-vehicles/GTI/*.png')+read_path('non-vehicles/Extras/*.png')
num = min(len(cars), len(not_cars))
cars = random.sample(cars, num)
not_cars = random.sample(not_cars, num)
return cars, not_cars
In [14]:
cars_0, not_cars_0 = get_samples_0()
In [15]:
print(len(cars_0), len(not_cars_0))
10045 10045
In [16]:
def get_samples_1():
far_cars = read_path('vehicles/GTI_Far/*.png')
left_cars = read_path('vehicles/GTI_Left/*.png') + read_path('vehicles/GTI_Left_Augmented/*.png')
right_cars = read_path('vehicles/GTI_Right/*.png') + read_path('vehicles/GTI_Right_Augmented/*.png')
close_cars = read_path('vehicles/GTI_MiddleClose/*.png')
return close_cars, far_cars, left_cars, right_cars
In [17]:
close_cars_1, far_cars_1, left_cars_1, right_cars_1 = get_samples_1()
In [18]:
print(len(close_cars_1), len(far_cars_1), len(left_cars_1), len(right_cars_1))
838 1668 1573 1573
In [19]:
def check_length(sample):
for i in sample:
print(len(i))
def generate_labels(num, img_list):
result = []
for i in range(len(img_list)):
result.append(num)
return result
def test_generate_labels():
img_list = read_path('vehicles/GTI_MiddleClose/*.png')[:10]
num = 10
result = generate_labels(num, img_list)
if result == [10, 10, 10, 10, 10, 10, 10, 10, 10, 10]:
print("generate_labels pass")
else:
print("generate_labels fail")
test_generate_labels()
def find_best_params_0(num = 200, parameters = {'kernel':('linear', 'rbf'), 'C':[1, 10]}):
cars_1 = random.sample(cars_0, num)
not_cars_1 = random.sample(not_cars_0, num)
X = extract_features(cars_1+not_cars_1, color_space='RGB', spatial_size=(32, 32),
hist_bins=32, orient=9,
pix_per_cell=8, cell_per_block=2, hog_channel=0,
spatial_feat=True, hist_feat=True, hog_feat=True)
_, X = normalized_samples(X)
y=[]
for i in range(2):
y = y + generate_labels(i, [cars_1, not_cars_1][i])
parameters = {'kernel':('linear', 'rbf'), 'C':[1, 10]}
svr = svm.SVC()
clf = grid_search.GridSearchCV(svr, parameters)
clf.fit(X, y)
return clf.best_params_
def find_best_params_1(num = 200, parameters = {'kernel':('linear', 'rbf'), 'C':[1, 10]}):
a, b, c, d = get_samples_1()
a = random.sample(a, num)
b = random.sample(b, num)
c = random.sample(c, num)
d = random.sample(d, num)
x = a+b+c+d
X = extract_features(x, color_space='RGB', spatial_size=(32, 32),
hist_bins=32, orient=9,
pix_per_cell=8, cell_per_block=2, hog_channel=0,
spatial_feat=True, hist_feat=True, hog_feat=True)
_, X = normalized_samples(X)
y=[]
for i in range(4):
y = y + generate_labels(i, [a, b, c, d][i])
parameters = {'kernel':('linear', 'rbf'), 'C':[1, 10]}
svr = svm.SVC()
clf = grid_search.GridSearchCV(svr, parameters)
clf.fit(X, y)
return clf.best_params_
def test_find_best_params():
result = find_best_params(200, parameters = {'kernel':('linear', 'rbf'), 'C':[1, 10]})
print(result)
return result
def normalized_samples(feature_list):
feature_list = np.array(feature_list).astype(np.float64)
X_scaler = StandardScaler().fit(feature_list)
scaled_X = X_scaler.transform(feature_list)
return X_scaler, scaled_X
def test_normalized_samples():
scaled_X = normalized_samples([[0, 0, 0.1], [1, 1, 0]])
return scaled_X
print("normalized_samples: " + str(test_normalized_samples()))
def split_samples(scaled_X, y):
rand_state = np.random.randint(0, 100)
X_train, X_test, y_train, y_test = train_test_split(scaled_X, y, test_size=0.2, random_state=rand_state)
return X_train, X_test, y_train, y_test
generate_labels pass
normalized_samples: (StandardScaler(copy=True, with_mean=True, with_std=True), array([[-1., -1., 1.],
[ 1., 1., -1.]]))
In [142]:
#train now, svm for car vs not cars,
In [20]:
def get_accuracy(X_test, y_test, svr):
m = 0
for i in range(len(y_test)):
if svr.predict(X_test[i].reshape(1 , -1)) == [[y_test[i]]]:
m += 1
return m/len(y_test)
In [52]:
X = extract_features(cars_0 + not_cars_0, color_space='YCrCb', spatial_size=(32, 32),
hist_bins=32, orient=9,
pix_per_cell=8, cell_per_block=2, hog_channel='ALL',
spatial_feat=True, hist_feat=True, hog_feat=True)
y=[]
for j in range(2):
y = y + generate_labels(j, [cars_0, not_cars_0][j])
C:\Program Files\Anaconda3\lib\site-packages\skimage\feature\_hog.py:119: skimage_deprecation: Default value of `block_norm`==`L1` is deprecated and will be changed to `L2-Hys` in v0.15 'be changed to `L2-Hys` in v0.15', skimage_deprecation)
vehicles/KITTI_extracted\2666.png completed vehicles/KITTI_extracted\844.png completed vehicles/KITTI_extracted\1553.png completed vehicles/KITTI_extracted\2791.png completed vehicles/KITTI_extracted\4288.png completed vehicles/GTI_MiddleClose\flip_image0228.png completed vehicles/GTI_Left\image0421.png completed vehicles/KITTI_extracted\1427.png completed vehicles/GTI_Far\flip_image0741.png completed vehicles/KITTI_extracted\3749.png completed vehicles/GTI_Far\image0817.png completed vehicles/KITTI_extracted\3901.png completed vehicles/GTI_Left\image0705.png completed vehicles/GTI_Left\image0277.png completed vehicles/KITTI_extracted\3876.png completed vehicles/GTI_Right\image0041.png completed vehicles/GTI_Far\flip_image0781.png completed vehicles/KITTI_extracted\4833.png completed vehicles/KITTI_extracted\4112.png completed vehicles/GTI_Left\image0356.png completed vehicles/GTI_Left\image0240.png completed vehicles/GTI_Left\image0149.png completed vehicles/KITTI_extracted\2629.png completed vehicles/GTI_Right\image0816.png completed vehicles/GTI_Right\image0669.png completed vehicles/KITTI_extracted\3258.png completed vehicles/KITTI_extracted\696.png completed vehicles/GTI_Left\image0894.png completed vehicles/KITTI_extracted\739.png completed vehicles/GTI_Far\flip_image0634.png completed vehicles/GTI_Left\image0507.png completed vehicles/KITTI_extracted\2305.png completed vehicles/GTI_MiddleClose\image0348.png completed vehicles/KITTI_extracted\1206.png completed vehicles/GTI_Left\image0830.png completed vehicles/KITTI_extracted\4056.png completed vehicles/KITTI_extracted\5146.png completed vehicles/KITTI_extracted\3847.png completed vehicles/KITTI_extracted\2045.png completed vehicles/KITTI_extracted\4728.png completed vehicles/GTI_Left\image0742.png completed vehicles/KITTI_extracted\4012.png completed vehicles/GTI_MiddleClose\flip_image0334.png completed vehicles/KITTI_extracted\1956.png completed vehicles/KITTI_extracted\5964.png completed 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In [ ]:
X_train_0, X_test_0, y_train_0, y_test_0 = split_samples(X, y)
X_scaler_0, X_0 = normalized_samples(X_train_0)
#Split samples
svr_0 = svm.LinearSVC()
svr_0.fit(X_0, y_train_0)
print("done")
In [54]:
t = get_accuracy(X_scaler_0.transform(X_test_0), y_test_0, svr_0)
print(t)
0.9838227974116476
In [46]:
images = glob.glob('./vehicles/GTI_Far/*.png')
In [48]:
test_img=mpimg.imread(images[1])
single_feature = extract_single_feature(test_img, color_space='YCrCb', spatial_size=(32, 32),
hist_bins=32, orient=9,
pix_per_cell=8, cell_per_block=2, hog_channel='ALL',
spatial_feat=True, hist_feat=True, hog_feat=True)
test_feature = X_scaler_0.transform(single_feature.reshape(1, -1))
print(svr_0.predict(test_feature))
[0]
In [57]:
print(test_feature)
[[ 0.25849326 -0.44402726 -0.54723759 ..., -0.39823506 -0.51363984 -0.65199379]]
In [58]:
X = extract_features(left_cars_1 + right_cars_1, color_space='YCrCb', spatial_size=(32, 32),
hist_bins=32, orient=9,
pix_per_cell=8, cell_per_block=2, hog_channel='ALL',
spatial_feat=True, hist_feat=False, hog_feat=True)
y=[]
for j in range(2):
y = y + generate_labels(j, [left_cars_1, right_cars_1][j])
X_train_1, X_test_1, y_train_1, y_test_1 = split_samples(X, y)
X_scaler_1, X_1 = normalized_samples(X_train_1)
#Split samples
svr_1 = svm.SVC(kernel = 'rbf', C=1)
svr_1.fit(X_1, y_train_1)
print("done")
C:\Program Files\Anaconda3\lib\site-packages\skimage\feature\_hog.py:119: skimage_deprecation: Default value of `block_norm`==`L1` is deprecated and will be changed to `L2-Hys` in v0.15 'be changed to `L2-Hys` in v0.15', skimage_deprecation)
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vehicles/GTI_Right_Augmented\flip_image0974.png completed done
In [59]:
t = get_accuracy(X_scaler_1.transform(X_test_1), y_test_1, svr_1)
print(t)
0.9761904761904762
In [60]:
print(X_1[0].shape)
(8364,)
Load Trained Scaler and SVM Model¶
In [21]:
import pickle
In [22]:
f1 = open('temp.pkl', 'rb')
X_scaler_0 = pickle.load(f1)
svr_0 = pickle.load(f1)
X_scaler_1 = pickle.load(f1)
svr_1 = pickle.load(f1)
In [49]:
def find_cars(img, ystart, ystop, scale, svc, X_scaler, svc_1, X_scaler_1, orient, pix_per_cell, cell_per_block, spatial_size, hist_bins):
box_list = []
draw_img = np.copy(img)
img = img.astype(np.float32)/255
img_tosearch = img[ystart:ystop,640:,:]
ctrans_tosearch = cv2.cvtColor(img_tosearch, cv2.COLOR_RGB2YCrCb)
if scale != 1:
imshape = ctrans_tosearch.shape
ctrans_tosearch = cv2.resize(ctrans_tosearch, (np.int(imshape[1]/scale), np.int(imshape[0]/scale)))
ch1 = ctrans_tosearch[:,:,0]
ch2 = ctrans_tosearch[:,:,1]
ch3 = ctrans_tosearch[:,:,2]
# Define blocks and steps as above
nxblocks = (ch1.shape[1] // pix_per_cell) - cell_per_block + 1
nyblocks = (ch1.shape[0] // pix_per_cell) - cell_per_block + 1
nfeat_per_block = orient*cell_per_block**2
# 64 was the orginal sampling rate, with 8 cells and 8 pix per cell
window = 64
nblocks_per_window = (window // pix_per_cell) - cell_per_block + 1
cells_per_step = 2 # Instead of overlap, define how many cells to step
nxsteps = (nxblocks - nblocks_per_window) // cells_per_step
nysteps = (nyblocks - nblocks_per_window) // cells_per_step
# Compute individual channel HOG features for the entire image
hog1 = get_hog_features(ch1, orient, pix_per_cell, cell_per_block, feature_vec=False)
hog2 = get_hog_features(ch2, orient, pix_per_cell, cell_per_block, feature_vec=False)
hog3 = get_hog_features(ch3, orient, pix_per_cell, cell_per_block, feature_vec=False)
for xb in range(nxsteps):
for yb in range(nysteps):
ypos = yb*cells_per_step
xpos = xb*cells_per_step
# Extract HOG for this patch
hog_feat1 = hog1[ypos:ypos+nblocks_per_window, xpos:xpos+nblocks_per_window].ravel()
hog_feat2 = hog2[ypos:ypos+nblocks_per_window, xpos:xpos+nblocks_per_window].ravel()
hog_feat3 = hog3[ypos:ypos+nblocks_per_window, xpos:xpos+nblocks_per_window].ravel()
hog_features = np.hstack((hog_feat1, hog_feat2, hog_feat3))
xleft = xpos*pix_per_cell
ytop = ypos*pix_per_cell
# Extract the image patch
subimg = cv2.resize(ctrans_tosearch[ytop:ytop+window, xleft:xleft+window], (64,64))
# Get color features
spatial_features = bin_spatial(subimg, size=spatial_size)
hist_features = color_hist(subimg, nbins=hist_bins)
# Scale features and make a prediction
test_features_0 = X_scaler.transform(np.hstack((spatial_features, hist_features, hog_features)).reshape(1, -1))
test_features_1 = X_scaler_1.transform(np.hstack((spatial_features, hog_features)).reshape(1, -1))
test_prediction_0 = svc.predict(test_features_0)
test_prediction_1 = svc_1.predict(test_features_1)
if test_prediction_0 == [0] and test_prediction_1 ==[1]:
xbox_left = np.int(xleft*scale)
ytop_draw = np.int(ytop*scale)
win_draw = np.int(window*scale)
cv2.rectangle(draw_img,(xbox_left+640, ytop_draw+ystart),(xbox_left+win_draw+640,ytop_draw+win_draw+ystart),(0,0,255),6)
box_list.append([(xbox_left+640, ytop_draw+ystart),(xbox_left+win_draw+640,ytop_draw+win_draw+ystart)])
return draw_img, box_list
ystart = 400
ystop = 656
scale = 1.5
images= glob.glob('project_images/*.jpg')
img = mpimg.imread(images[8])
out_img, box_list = find_cars(img, ystart, ystop, scale, svr_0, X_scaler_0,svr_1, X_scaler_1, 9, 8, 2, (32,32), 32)
plt.imshow(out_img)
Out[49]:
<matplotlib.image.AxesImage at 0x7967c50>
In [29]:
def find_more_cars(image):
img = np.copy(image)
_, box_list_0 = find_cars(img, 400, 656, 1.8, svr_0, X_scaler_0,svr_1, X_scaler_1, 9, 8, 2, (32,32), 32)
_, box_list_1 = find_cars(img, 400, 656, 1.5, svr_0, X_scaler_0,svr_1, X_scaler_1, 9, 8, 2, (32,32), 32)
_, box_list_2 = find_cars(img, 400, 656, 1.1, svr_0, X_scaler_0,svr_1, X_scaler_1, 9, 8, 2, (32,32), 32)
_, box_list_3 = find_cars(img, 400, 656, 0.8, svr_0, X_scaler_0,svr_1, X_scaler_1, 9, 8, 2, (32,32), 32)
result = draw_boxes(img, box_list_0 + box_list_1+box_list_2+box_list_3, color=(0, 0, 255), thick=6)
return result, box_list_0 + box_list_1+box_list_2+box_list_3
In [30]:
plt.imshow(find_more_cars(mpimg.imread(images[5]))[0])
C:\Program Files\Anaconda3\lib\site-packages\skimage\feature\_hog.py:119: skimage_deprecation: Default value of `block_norm`==`L1` is deprecated and will be changed to `L2-Hys` in v0.15 'be changed to `L2-Hys` in v0.15', skimage_deprecation)
Out[30]:
<matplotlib.image.AxesImage at 0x1176d2b0>
In [56]:
images = glob.glob('project_images/*.jpg')
for i in range(len(images)):
img = mpimg.imread(images[i])
out_img = find_more_cars(img)[0]
plot_images(img, out_img , 'before_svm_'+str(i),'after_svm_'+str(i), 'gray', 'gray')
print(str(i) + ' finished')
0 finished 1 finished 2 finished 3 finished 4 finished 5 finished 6 finished 7 finished 8 finished 9 finished 10 finished 11 finished 12 finished 13 finished 14 finished 15 finished 16 finished 17 finished 18 finished 19 finished
In [50]:
from scipy.ndimage.measurements import label
In [51]:
def add_heat(heatmap, bbox_list):
# Iterate through list of bboxes
for box in bbox_list:
# Add += 1 for all pixels inside each bbox
# Assuming each "box" takes the form ((x1, y1), (x2, y2))
heatmap[box[0][1]:box[1][1], box[0][0]:box[1][0]] += 1
# Return updated heatmap
return heatmap# Iterate through list of bboxes
def apply_threshold(heatmap, threshold):
print(heatmap.shape)
# Zero out pixels below the threshold
heatmap[heatmap <= threshold] = 0
# Return thresholded map
return heatmap
def draw_labeled_bboxes(img, labels):
labeled_bboxes = []
# Iterate through all detected cars
for car_number in range(1, labels[1]+1):
# Find pixels with each car_number label value
nonzero = (labels[0] == car_number).nonzero()
# Identify x and y values of those pixels
nonzeroy = np.array(nonzero[0])
nonzerox = np.array(nonzero[1])
# Define a bounding box based on min/max x and y
bbox = ((np.min(nonzerox), np.min(nonzeroy)), (np.max(nonzerox), np.max(nonzeroy)))
# Draw the box on the image
a = abs(np.min(nonzerox) - np.max(nonzerox))
b = abs(np.min(nonzeroy) - np.max(nonzeroy))
if 1/2.0 <= 1.0*a/b <= 5:
cv2.rectangle(img, bbox[0], bbox[1], (0,0,255), 6)
labeled_bboxes.append(bbox)
# Return the image
return img, labeled_bboxes
In [52]:
heat = np.zeros_like(img[:,:,0]).astype(np.float)
In [53]:
_ , box_list = find_more_cars(img)
In [54]:
heat = add_heat(heat,box_list)
# Apply threshold to help remove false positives
heat = apply_threshold(heat, 1)
# Visualize the heatmap when displaying
heatmap = np.clip(heat, 0, 255)
# Find final boxes from heatmap using label function
labels = label(heatmap)
draw_img, labeled_bboxes = draw_labeled_bboxes(np.copy(img), labels)
fig = plt.figure()
plt.subplot(121)
plt.imshow(draw_img)
plt.title('Car Positions')
plt.subplot(122)
plt.imshow(heatmap, cmap='hot')
plt.title('Heat Map')
fig.tight_layout()
(720, 1280)
Camera Calibration¶
In [55]:
def camera_calibration():
nx = 9
ny = 6
cal_images = glob.glob('camera_cal/calibration*.jpg')
obj_pts = np.zeros((nx*ny, 3), np.float32)
obj_pts[:, :2] = np.mgrid[0:nx, 0:ny].T.reshape(-1, 2)
cal_obj_pts = []
cal_img_pts = []
for fname in cal_images:
img = cv2.imread(fname)
gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)
ret, corners = cv2.findChessboardCorners(gray, (nx, ny), None)
if ret == True:
cal_obj_pts.append(obj_pts)
cal_img_pts.append(corners)
ret, M, dist, rvecs, tvecs = cv2.calibrateCamera(cal_obj_pts, cal_img_pts, gray.shape[::-1], None, None)
return M, dist
M_cal, dist_cal = camera_calibration()
def undistort(img):
return cv2.undistort(img, M_cal, dist_cal, None, M_cal)
In [66]:
plot_images( mpimg.imread(images[3]),undistort(mpimg.imread(images[3])), "before", "after", "gray", "gray")
Frame Pipelines¶
To make a demostration, I create a pipeline without history and a pipeline with history. The pipeline without history is to show the performance on each picture, the other one is to extract cars on the video.¶
The pipeline without history is nearly the same with the course contents.¶
The pipeline with history is to take several svm images of the history, send it to the heat map. The heat map thresthold is higher than the previous method.¶
In [56]:
def find_cars_pipeline(img):
image = np.copy(img)
undistorted = undistort(img)
box_list = []
_ , box_list = find_more_cars(img)
heat = np.zeros_like(undistorted[:,:,0]).astype(np.float)
heat = add_heat(heat,box_list)
# Apply threshold to help remove false positives
heat = apply_threshold(heat, 1)
# Visualize the heatmap when displaying
heatmap = np.clip(heat, 0, 255)
# Find final boxes from heatmap using label function
labels = label(heatmap)
result, labeled_bboxes = draw_labeled_bboxes(np.copy(img), labels)
return result
In [69]:
plt.imshow(find_cars_pipeline(mpimg.imread(images[14])))
(720, 1280)
Out[69]:
<matplotlib.image.AxesImage at 0x112d8da0>
In [42]:
history_box = [[], [], [], [], [] ,[],[], []]
def find_cars_pipeline_with_history(img):
global history_box
image = np.copy(img)
undistorted = undistort(img)
box_list = []
_ , box_list = find_more_cars(img)
history_box.append(box_list)
heat = np.zeros_like(undistorted[:,:,0]).astype(np.float)
for i in range(9) :
heat = add_heat(heat,history_box[-i])
history_box = history_box[-9:]
# Apply threshold to help remove false positives
heat = apply_threshold(heat, 4)
# Visualize the heatmap when displaying
heatmap = np.clip(heat, 0, 255)
# Find final boxes from heatmap using label function
labels = label(heatmap)
result, labeled_bboxes = draw_labeled_bboxes(np.copy(img), labels)
return result
In [71]:
images = glob.glob('project_images/*.jpg')
for i in range(len(images)):
img = mpimg.imread(images[i])
plot_images(img, find_cars_pipeline(img), 'before'+str(i),'after'+str(i), 'gray', 'gray')
(720, 1280) (760, 1280) (720, 1280) (720, 1280) (720, 1280) (720, 1280) (720, 1280) (720, 1280) (720, 1280) (720, 1280) (720, 1280) (720, 1280) (720, 1280) (720, 1280) (720, 1280) (720, 1280) (720, 1280) (720, 1280) (720, 1280) (720, 1280)
In [ ]:
img = mpimg.imread('project_images\\c0.JPG')
In [43]:
from moviepy.editor import VideoFileClip
from IPython.display import HTML
history_box = [[], [], [], [], [] ,[],[], []]
project_output = 'project_video_output_0.mp4'
clip = VideoFileClip("project_video.mp4")
output_clip = clip.fl_image(find_cars_pipeline_with_history)
%time output_clip.write_videofile(project_output, audio=False)
HTML("""
<video width="960" height="540" controls>
<source src="{0}">
</video>
""".format(project_output))
(720, 1280) [MoviePy] >>>> Building video project_video_output_0.mp4 [MoviePy] Writing video project_video_output_0.mp4
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
66%|███████████████████████▏ | 835/1261 [5:00:31<2:32:47, 21.52s/it]
(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
67%|███████████████████████▎ | 839/1261 [5:01:57<2:32:09, 21.63s/it]
(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
74%|█████████████████████████▉ | 933/1261 [5:35:39<1:57:42, 21.53s/it]
(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
74%|██████████████████████████ | 937/1261 [5:37:05<1:56:06, 21.50s/it]
(720, 1280)
74%|██████████████████████████ | 938/1261 [5:37:27<1:55:44, 21.50s/it]
(720, 1280)
74%|██████████████████████████ | 939/1261 [5:37:48<1:55:51, 21.59s/it]
(720, 1280)
75%|██████████████████████████ | 940/1261 [5:38:10<1:55:11, 21.53s/it]
(720, 1280)
75%|██████████████████████████ | 941/1261 [5:38:31<1:54:35, 21.49s/it]
(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
76%|██████████████████████████▊ | 964/1261 [5:46:46<1:46:15, 21.47s/it]
(720, 1280)
77%|██████████████████████████▊ | 965/1261 [5:47:07<1:45:46, 21.44s/it]
(720, 1280)
77%|██████████████████████████▊ | 966/1261 [5:47:29<1:45:17, 21.42s/it]
(720, 1280)
77%|██████████████████████████▊ | 967/1261 [5:47:51<1:45:47, 21.59s/it]
(720, 1280)
77%|██████████████████████████▊ | 968/1261 [5:48:12<1:45:02, 21.51s/it]
(720, 1280)
77%|██████████████████████████▉ | 969/1261 [5:48:33<1:44:23, 21.45s/it]
(720, 1280)
77%|██████████████████████████▉ | 970/1261 [5:48:55<1:43:58, 21.44s/it]
(720, 1280)
77%|██████████████████████████▉ | 971/1261 [5:49:16<1:43:38, 21.44s/it]
(720, 1280)
77%|██████████████████████████▉ | 972/1261 [5:49:38<1:43:23, 21.47s/it]
(720, 1280)
77%|███████████████████████████ | 973/1261 [5:49:59<1:43:18, 21.52s/it]
(720, 1280)
77%|███████████████████████████ | 974/1261 [5:50:21<1:42:41, 21.47s/it]
(720, 1280)
77%|███████████████████████████ | 975/1261 [5:50:42<1:42:16, 21.46s/it]
(720, 1280)
77%|███████████████████████████ | 976/1261 [5:51:04<1:41:50, 21.44s/it]
(720, 1280)
77%|███████████████████████████ | 977/1261 [5:51:25<1:41:35, 21.46s/it]
(720, 1280)
78%|███████████████████████████▏ | 978/1261 [5:51:47<1:42:07, 21.65s/it]
(720, 1280)
78%|███████████████████████████▏ | 979/1261 [5:52:09<1:41:29, 21.59s/it]
(720, 1280)
78%|███████████████████████████▏ | 980/1261 [5:52:30<1:40:51, 21.53s/it]
(720, 1280)
78%|███████████████████████████▏ | 981/1261 [5:52:51<1:40:13, 21.48s/it]
(720, 1280)
78%|███████████████████████████▎ | 982/1261 [5:53:13<1:39:57, 21.50s/it]
(720, 1280)
78%|███████████████████████████▎ | 983/1261 [5:53:34<1:39:31, 21.48s/it]
(720, 1280)
78%|███████████████████████████▎ | 984/1261 [5:53:57<1:40:54, 21.86s/it]
(720, 1280)
78%|███████████████████████████▎ | 985/1261 [5:54:19<1:40:11, 21.78s/it]
(720, 1280)
78%|███████████████████████████▎ | 986/1261 [5:54:40<1:39:17, 21.66s/it]
(720, 1280)
78%|███████████████████████████▍ | 987/1261 [5:55:01<1:38:31, 21.57s/it]
(720, 1280)
78%|███████████████████████████▍ | 988/1261 [5:55:23<1:38:03, 21.55s/it]
(720, 1280)
78%|███████████████████████████▍ | 989/1261 [5:55:45<1:38:21, 21.70s/it]
(720, 1280)
79%|███████████████████████████▍ | 990/1261 [5:56:06<1:37:40, 21.63s/it]
(720, 1280)
79%|███████████████████████████▌ | 991/1261 [5:56:28<1:37:01, 21.56s/it]
(720, 1280)
79%|███████████████████████████▌ | 992/1261 [5:56:49<1:36:27, 21.51s/it]
(720, 1280)
79%|███████████████████████████▌ | 993/1261 [5:57:11<1:35:48, 21.45s/it]
(720, 1280)
79%|███████████████████████████▌ | 994/1261 [5:57:32<1:35:24, 21.44s/it]
(720, 1280)
79%|███████████████████████████▌ | 995/1261 [5:57:54<1:35:54, 21.63s/it]
(720, 1280)
79%|███████████████████████████▋ | 996/1261 [5:58:15<1:35:10, 21.55s/it]
(720, 1280)
79%|███████████████████████████▋ | 997/1261 [5:58:37<1:34:32, 21.49s/it]
(720, 1280)
79%|███████████████████████████▋ | 998/1261 [5:58:58<1:34:15, 21.50s/it]
(720, 1280)
79%|███████████████████████████▋ | 999/1261 [5:59:20<1:33:40, 21.45s/it]
(720, 1280)
79%|██████████████████████████▉ | 1000/1261 [5:59:42<1:33:54, 21.59s/it]
(720, 1280)
79%|██████████████████████████▉ | 1001/1261 [6:00:03<1:33:22, 21.55s/it]
(720, 1280)
79%|███████████████████████████ | 1002/1261 [6:00:24<1:32:52, 21.51s/it]
(720, 1280)
80%|███████████████████████████ | 1003/1261 [6:00:46<1:32:15, 21.46s/it]
(720, 1280)
80%|███████████████████████████ | 1004/1261 [6:01:07<1:31:47, 21.43s/it]
(720, 1280)
80%|███████████████████████████ | 1005/1261 [6:01:29<1:31:31, 21.45s/it]
(720, 1280)
80%|███████████████████████████ | 1006/1261 [6:01:51<1:31:56, 21.63s/it]
(720, 1280)
80%|███████████████████████████▏ | 1007/1261 [6:02:12<1:31:22, 21.58s/it]
(720, 1280)
80%|███████████████████████████▏ | 1008/1261 [6:02:34<1:30:48, 21.54s/it]
(720, 1280)
80%|███████████████████████████▏ | 1009/1261 [6:02:55<1:30:47, 21.62s/it]
(720, 1280)
80%|███████████████████████████▏ | 1010/1261 [6:03:17<1:30:13, 21.57s/it]
(720, 1280)
80%|███████████████████████████▎ | 1011/1261 [6:03:39<1:30:14, 21.66s/it]
(720, 1280)
80%|███████████████████████████▎ | 1012/1261 [6:04:00<1:29:49, 21.64s/it]
(720, 1280)
80%|███████████████████████████▎ | 1013/1261 [6:04:22<1:29:12, 21.58s/it]
(720, 1280)
80%|███████████████████████████▎ | 1014/1261 [6:04:43<1:28:43, 21.55s/it]
(720, 1280)
80%|███████████████████████████▎ | 1015/1261 [6:05:05<1:28:14, 21.52s/it]
(720, 1280)
81%|███████████████████████████▍ | 1016/1261 [6:05:26<1:27:43, 21.48s/it]
(720, 1280)
81%|███████████████████████████▍ | 1017/1261 [6:05:48<1:27:58, 21.63s/it]
(720, 1280)
81%|███████████████████████████▍ | 1018/1261 [6:06:09<1:27:16, 21.55s/it]
(720, 1280)
81%|███████████████████████████▍ | 1019/1261 [6:06:31<1:26:54, 21.55s/it]
(720, 1280)
81%|███████████████████████████▌ | 1020/1261 [6:06:53<1:26:30, 21.54s/it]
(720, 1280)
81%|███████████████████████████▌ | 1021/1261 [6:07:14<1:25:55, 21.48s/it]
(720, 1280)
81%|███████████████████████████▌ | 1022/1261 [6:07:35<1:25:32, 21.48s/it]
(720, 1280)
81%|███████████████████████████▌ | 1023/1261 [6:07:57<1:25:49, 21.64s/it]
(720, 1280)
81%|███████████████████████████▌ | 1024/1261 [6:08:19<1:25:15, 21.58s/it]
(720, 1280)
81%|███████████████████████████▋ | 1025/1261 [6:08:40<1:24:40, 21.53s/it]
(720, 1280)
81%|███████████████████████████▋ | 1026/1261 [6:09:02<1:24:12, 21.50s/it]
(720, 1280)
81%|███████████████████████████▋ | 1027/1261 [6:09:23<1:23:42, 21.46s/it]
(720, 1280)
82%|███████████████████████████▋ | 1028/1261 [6:09:45<1:23:49, 21.59s/it]
(720, 1280)
82%|███████████████████████████▋ | 1029/1261 [6:10:06<1:23:20, 21.55s/it]
(720, 1280)
82%|███████████████████████████▊ | 1030/1261 [6:10:28<1:22:46, 21.50s/it]
(720, 1280)
82%|███████████████████████████▊ | 1031/1261 [6:10:49<1:22:17, 21.47s/it]
(720, 1280)
82%|███████████████████████████▊ | 1032/1261 [6:11:10<1:21:45, 21.42s/it]
(720, 1280)
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(720, 1280)
82%|███████████████████████████▉ | 1034/1261 [6:11:54<1:21:53, 21.64s/it]
(720, 1280)
82%|███████████████████████████▉ | 1035/1261 [6:12:15<1:21:11, 21.56s/it]
(720, 1280)
82%|███████████████████████████▉ | 1036/1261 [6:12:37<1:20:43, 21.53s/it]
(720, 1280)
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(720, 1280)
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(720, 1280)
82%|████████████████████████████ | 1039/1261 [6:13:41<1:19:50, 21.58s/it]
(720, 1280)
82%|████████████████████████████ | 1040/1261 [6:14:03<1:19:26, 21.57s/it]
(720, 1280)
83%|████████████████████████████ | 1041/1261 [6:14:25<1:19:05, 21.57s/it]
(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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(720, 1280)
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[MoviePy] Done. [MoviePy] >>>> Video ready: project_video_output_0.mp4 Wall time: 7h 38min 40s
Out[43]:
In [48]:
from moviepy.editor import VideoFileClip
from IPython.display import HTML
project_output = 'test_video_output_3.mp4'
clip = VideoFileClip("test_video.mp4")
output_clip = clip.fl_image(find_cars_pipeline_with_history)
%time output_clip.write_videofile(project_output, audio=False)
HTML("""
<video width="960" height="540" controls>
<source src="{0}">
</video>
""".format(project_output))
(720, 1280) [MoviePy] >>>> Building video test_video_output_3.mp4 [MoviePy] Writing video test_video_output_3.mp4
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[MoviePy] Done. [MoviePy] >>>> Video ready: test_video_output_3.mp4 Wall time: 14min 34s
Out[48]:
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